#include <WearableNurbsWall.h>

Inheritance diagram for WearableNurbsWall:

Public Member Functions
	WearableNurbsWall ()
	Default constructor: make a wall with default parameters. More...

	WearableNurbsWall (const WearableNurbsWall &other)
	Copy constructor, copies another wall. More...

	WearableNurbsWall (const NurbsSurface &nurbsSurface)
	Constructor in which all parameters of the wall are set. More...

	~WearableNurbsWall ()
	Default destructor. More...

	WearableNurbsWall (Mdouble lengthU, Mdouble lengthV, Mdouble resolutionU, Mdouble resolutionV, bool periodicU=false, bool periodicV=false)

void	set (Mdouble lengthU, Mdouble lengthV, Mdouble resolutionU, Mdouble resolutionV, bool periodicU=false, bool periodicV=false)

void	read (std::istream &is) override
	Reads this wall from an input stream, for example a restart file. More...

void	write (std::ostream &os) const override
	Writes this wall to an output stream, for example a restart file. More...

std::string	getName () const final
	Returns the name of the object, here the string "WearableNurbsWall". More...

WearableNurbsWall *	copy () const final
	Copy this wall and return a pointer to the copy. More...

void	computeWear () override

void	writeWallDetailsVTK (VTKData &data) const override

Mdouble	getVolumeUnderSurface (const std::vector< Mdouble > &knotsU, const std::vector< Mdouble > &knotsV, const std::vector< std::vector< Vec3D >> &controlPoints, const std::vector< std::vector< Mdouble >> &weights) const

Mdouble	getVolumeUnderSurfaceX (const std::vector< Mdouble > &knotsU, const std::vector< Mdouble > &knotsV, const std::vector< std::vector< Vec3D >> &controlPoints, const std::vector< std::vector< Mdouble >> &weights) const

void	moveControlPoint (unsigned idxU, unsigned idxV, Vec3D dP)

Mdouble	getVolumeUnderSurface ()

Public Member Functions inherited from NurbsWall
	NurbsWall ()
	Default constructor: make a wall with default parameters. More...

	NurbsWall (const NurbsWall &other)
	Copy constructor, copies another wall. More...

	NurbsWall (const NurbsSurface &nurbsSurface)
	Constructor in which all parameters of the wall are set. More...

	~NurbsWall ()
	Default destructor. More...

void	set (const NurbsSurface &nurbsSurface)
	Defines a wall, given a NurbsSurface. More...

bool	getDistanceAndNormal (const BaseParticle &P, Mdouble &distance, Vec3D &normal_return) const final
	Compute the distance from the Screw for a given BaseParticle and return if there is a collision. If there is a collision, also return the normal vector of the interaction point. More...

void	writeVTK (VTKContainer &vtk) const override

Public Member Functions inherited from BaseWall
	BaseWall ()
	Default constructor. More...

	BaseWall (const BaseWall &w)
	Copy constructor. More...

	~BaseWall () override
	Default destructor. More...

virtual bool	getDistanceNormalOverlap (const BaseParticle &P, Mdouble &distance, Vec3D &normal_return, Mdouble &overlap) const

virtual bool	getDistanceNormalOverlapSuperquadric (const SuperQuadricParticle &p, Mdouble &distance, Vec3D &normal_return, Mdouble &overlap) const

virtual Vec3D	getFurthestPointSuperQuadric (const Vec3D &normalBodyFixed, const Vec3D &axes, Mdouble eps1, Mdouble eps2) const

virtual void	setHandler (WallHandler *handler)
	A function which sets the WallHandler for this BaseWall. More...

WallHandler *	getHandler () const
	A function which returns the WallHandler that handles this BaseWall. More...

void	setIndSpecies (unsigned int indSpecies) override
	Define the species of this wall using the index of the species in the SpeciesHandler in this DPMBase. More...

void	setSpecies (const ParticleSpecies *species)
	Defines the species of the current wall. More...

bool	isFixed () const override

void	setForceControl (Vec3D forceGoal, Vec3D gainFactor, Vec3D baseVelocity={0, 0, 0})
	Slowly adjusts the force on a wall towards a specified goal, by adjusting (prescribing) the velocity of the wall. More...

virtual bool	isLocal (Vec3D &min, Vec3D &max) const

bool	getLinePlaneIntersect (Vec3D &intersect, const Vec3D &p0, const Vec3D &p1, const Vec3D &n, const Vec3D &p)

bool	isInsideWallVTK (const Vec3D &point, const Vec3D &normal, const Vec3D &position) const

void	projectOntoWallVTK (Vec3D &point0, const Vec3D &point1, const Vec3D &normal, const Vec3D &position) const

void	intersectVTK (std::vector< Vec3D > &points, Vec3D normal, Vec3D position) const

virtual BaseInteraction *	getInteractionWithSuperQuad (SuperQuadricParticle p, unsigned timeStamp, InteractionHandler interactionHandler)

void	getVTK (std::vector< Vec3D > &points, std::vector< std::vector< double >> &triangleStrips)

const Vec3D	getAxis () const

BaseInteraction *	getInteractionWith (BaseParticle p, unsigned timeStamp, InteractionHandler interactionHandler) override
	Returns the interaction between this wall and a given particle, nullptr if there is no interaction. More...

virtual void	actionsOnRestart ()
	No implementation but can be overidden in its derived classes. More...

virtual void	actionsAfterParticleGhostUpdate ()
	No implementation but can be overidden in its derived classes. More...

virtual void	handleParticleAddition (unsigned int id, BaseParticle *p)
	Handles the addition of particles to the particleHandler. More...

virtual void	handleParticleRemoval (unsigned int id)
	Handles the addition of particles to the particleHandler. More...

virtual void	checkInteractions (InteractionHandler *interactionHandler, unsigned int timeStamp)
	Check if all interactions are valid. More...

bool	getVTKVisibility () const

void	setVTKVisibility (bool vtkVisibility)

void	addRenderedWall (BaseWall *w)

BaseWall *	getRenderedWall (size_t i) const

std::vector< BaseWall * >	getRenderedWalls () const

void	removeRenderedWalls ()

void	renderWall (VTKContainer &vtk)

void	addParticlesAtWall (unsigned numElements=50)

void	setVelocityControl (Vec3D forceGoal, Vec3D gainFactor, Vec3D baseVelocity)

Public Member Functions inherited from BaseInteractable
	BaseInteractable ()
	Default BaseInteractable constructor. More...

	BaseInteractable (const BaseInteractable &p)
	Copy constructor. More...

	~BaseInteractable () override
	Destructor, it simply destructs the BaseInteractable and all the objects it contains. More...

unsigned int	getIndSpecies () const
	Returns the index of the species associated with the interactable object. More...

const ParticleSpecies *	getSpecies () const
	Returns a pointer to the species of this BaseInteractable. More...

void	setSpecies (const ParticleSpecies *species)
	Sets the species of this BaseInteractable. More...

const Vec3D &	getForce () const
	Returns the force on this BaseInteractable. More...

const Vec3D &	getTorque () const
	Returns the torque on this BaseInteractable. More...

void	setForce (const Vec3D &force)
	Sets the force on this BaseInteractable. More...

void	setTorque (const Vec3D &torque)
	Sets the torque on this BaseInteractable. More...

void	addForce (const Vec3D &addForce)
	Adds an amount to the force on this BaseInteractable. More...

void	addTorque (const Vec3D &addTorque)
	Adds an amount to the torque on this BaseInteractable. More...

virtual void	resetForceTorque (int numberOfOMPthreads)

void	sumForceTorqueOMP ()

const Vec3D &	getPosition () const
	Returns the position of this BaseInteractable. More...

const Quaternion &	getOrientation () const
	Returns the orientation of this BaseInteractable. More...

virtual void	setPosition (const Vec3D &position)
	Sets the position of this BaseInteractable. More...

void	setOrientationViaNormal (Vec3D normal)
	Sets the orientation of this BaseInteractable by defining the vector that results from the rotation of the (1,0,0) vector. More...

void	setOrientationViaEuler (Vec3D eulerAngle)
	Sets the orientation of this BaseInteractable by defining the euler angles. More...

virtual void	setOrientation (const Quaternion &orientation)
	Sets the orientation of this BaseInteractable. More...

virtual void	move (const Vec3D &move)
	Moves this BaseInteractable by adding an amount to the position. More...

virtual void	rotate (const Vec3D &angularVelocityDt)
	Rotates this BaseInteractable. More...

const std::vector< BaseInteraction * > &	getInteractions () const
	Returns a list of interactions which belong to this interactable. More...

void	addInteraction (BaseInteraction *I)
	Adds an interaction to this BaseInteractable. More...

bool	removeInteraction (BaseInteraction *I)
	Removes an interaction from this BaseInteractable. More...

void	copyInteractionsForPeriodicParticles (const BaseInteractable &p)
	Copies interactions to this BaseInteractable whenever a periodic copy made. More...

void	setVelocity (const Vec3D &velocity)
	set the velocity of the BaseInteractable. More...

void	setAngularVelocity (const Vec3D &angularVelocity)
	set the angular velocity of the BaseInteractble. More...

void	addVelocity (const Vec3D &velocity)
	adds an increment to the velocity. More...

void	addAngularVelocity (const Vec3D &angularVelocity)
	add an increment to the angular velocity. More...

virtual const Vec3D &	getVelocity () const
	Returns the velocity of this interactable. More...

virtual const Vec3D &	getAngularVelocity () const
	Returns the angular velocity of this interactable. More...

void	setPrescribedPosition (const std::function< Vec3D(double)> &prescribedPosition)
	Allows the position of an infinite mass interactable to be prescribed. More...

void	applyPrescribedPosition (double time)
	Computes the position from the user defined prescribed position function. More...

void	setPrescribedVelocity (const std::function< Vec3D(double)> &prescribedVelocity)
	Allows the velocity of an infinite mass interactable to be prescribed. More...

void	applyPrescribedVelocity (double time)
	Computes the velocity from the user defined prescribed velocity function. More...

void	setPrescribedOrientation (const std::function< Quaternion(double)> &prescribedOrientation)
	Allows the orientation of the infinite mass interactbale to be prescribed. More...

void	applyPrescribedOrientation (double time)
	Computes the orientation from the user defined prescribed orientation function. More...

void	setPrescribedAngularVelocity (const std::function< Vec3D(double)> &prescribedAngularVelocity)
	Allows the angular velocity of the infinite mass interactable to be prescribed. More...

void	applyPrescribedAngularVelocity (double time)
	Computes the angular velocity from the user defined prescribed angular velocity. More...

virtual const Vec3D	getVelocityAtContact (const Vec3D &contact) const
	Returns the velocity at the contact point, use by many force laws. More...

void	integrateBeforeForceComputation (double time, double timeStep)
	This is part of integrate routine for objects with infinite mass. More...

void	integrateAfterForceComputation (double time, double timeStep)
	This is part of the integration routine for objects with infinite mass. More...

virtual Mdouble	getInvMass () const

virtual Mdouble	getCurvature (const Vec3D &labFixedCoordinates) const

virtual bool	isFaceContact (const Vec3D &normal) const

Public Member Functions inherited from BaseObject
	BaseObject ()=default
	Default constructor. More...

	BaseObject (const BaseObject &p)=default
	Copy constructor, copies all the objects BaseObject contains. More...

virtual	~BaseObject ()=default
	virtual destructor More...

virtual void	moveInHandler (unsigned int index)
	Except that it is virtual, it does the same thing as setIndex() does. More...

void	setIndex (unsigned int index)
	Allows one to assign an index to an object in the handler/container. More...

void	setId (unsigned long id)
	Assigns a unique identifier to each object in the handler (container) which remains constant even after the object is deleted from the container/handler. More...

unsigned int	getIndex () const
	Returns the index of the object in the handler. More...

unsigned int	getId () const
	Returns the unique identifier of any particular object. More...

void	setGroupId (unsigned groupId)

unsigned	getGroupId () const

Private Member Functions
void	storeDebris (Vec3D P, const Mdouble debris)

void	processDebris ()

Private Attributes
std::vector< std::vector< Mdouble > >	localDebris_

Additional Inherited Members
Static Public Member Functions inherited from BaseWall
static void	addToVTK (const std::vector< Vec3D > &points, VTKContainer &vtk)
	Takes the points provided and adds a triangle strip connecting these points to the vtk container. More...

Protected Attributes inherited from NurbsWall
NurbsSurface	nurbsSurface_

Constructor & Destructor Documentation

◆ WearableNurbsWall() [1/4]

WearableNurbsWall::WearableNurbsWall ( )

Default constructor: make a wall with default parameters.

 {
     logger(DEBUG, "WearableNurbsWall() constructor finished.");
 }

References DEBUG, and logger.

Referenced by copy().

◆ WearableNurbsWall() [2/4]

WearableNurbsWall::WearableNurbsWall ( const WearableNurbsWall & other )

Copy constructor, copies another wall.

Parameters

[in] other The WearableNurbsWall that has to be copied.

         : NurbsWall(other)
 {
     localDebris_ = other.localDebris_;
     logger(DEBUG, "WearableNurbsWall(const WearableNurbsWall&) copy constructor finished.");
 }

References DEBUG, localDebris_, and logger.

◆ WearableNurbsWall() [3/4]

WearableNurbsWall::WearableNurbsWall ( const NurbsSurface & nurbsSurface )

Constructor in which all parameters of the wall are set.

Parameters

nurbsSurface The NURBS surface which defines the shape of the wall

         : NurbsWall(nurbsSurface)
 {
     logger(DEBUG, "WearableNurbsWall(const NurbsSurface&) constructor finished.");
 }

References DEBUG, and logger.

◆ ~WearableNurbsWall()

WearableNurbsWall::~WearableNurbsWall ( )

Default destructor.

 {
     logger(DEBUG, "~WearableNurbsWall() finished, destroyed the wall.");
 }

References DEBUG, and logger.

◆ WearableNurbsWall() [4/4]

WearableNurbsWall::WearableNurbsWall	(	Mdouble	lengthU,
		Mdouble	lengthV,
		Mdouble	resolutionU,
		Mdouble	resolutionV,
		bool	periodicU = `false`,
		bool	periodicV = `false`
	)

 {
     set(lengthU, lengthV, resolutionU, resolutionV, periodicU, periodicV);
 }

References set().

Member Function Documentation

◆ computeWear()

void WearableNurbsWall::computeWear ( )

overridevirtual

Reimplemented from BaseWall.

 {
     // From https://en.wikipedia.org/wiki/Archard_equation
     // Q = KWL/H
     // Q is the total volume of wear debris produced
     // K is a dimensionless constant (typically mild wear 1e-8, severe wear 1e-2)
     // W is the total normal load
     // L is the sliding distance
     // H is the hardness of the softest contacting surfaces
     
     const Mdouble dt = getHandler()->getDPMBase()->getTimeStep();
     
     for (BaseInteraction* interaction : getInteractions())
     {
         // Ignore interactions from periodic particles. (Although it seems Q evaluates to 0 anyway (absolute normal force equals 0), but just to be sure)
         if (static_cast<BaseParticle*>(interaction->getP())->getPeriodicFromParticle() != nullptr)
             continue;
             
         Mdouble K = 1.0e-6; // For testing only, should be set by user
         Mdouble W = interaction->getAbsoluteNormalForce();
         // Pythagoras to get tangential magnitude from vector and normal magnitude
         Mdouble tangentialRelativeVelocity = std::sqrt(interaction->getRelativeVelocity().getLengthSquared() -
                 interaction->getNormalRelativeVelocity() * interaction->getNormalRelativeVelocity());
         Mdouble L = tangentialRelativeVelocity * dt;
         Mdouble H = 1.0; // For testing only, should be set by user
         Mdouble Q = K * W * L / H;
         
         storeDebris(interaction->getContactPoint(), Q);
     }
     
 //    if (!getInteractions().empty() && getHandler()->getDPMBase()->getNumberOfTimeSteps() % 100 == 0)
 //    {
 //        processDebris();
 //        // Reset debris
 //        for (auto& d0 : localDebris_)
 //            for (auto& d : d0)
 //                d = 0.0;
 //    }
 }

References BaseHandler< T >::getDPMBase(), BaseWall::getHandler(), BaseInteractable::getInteractions(), BaseParticle::getPeriodicFromParticle(), DPMBase::getTimeStep(), and storeDebris().

◆ copy()

WearableNurbsWall * WearableNurbsWall::copy ( ) const

finalvirtual

Copy this wall and return a pointer to the copy.

Reimplemented from NurbsWall.

 {
     return new WearableNurbsWall(*this);
 }

References WearableNurbsWall().

◆ getName()

std::string WearableNurbsWall::getName ( ) const

finalvirtual

Returns the name of the object, here the string "WearableNurbsWall".

Reimplemented from NurbsWall.

 {
     return "WearableNurbsWall";
 }

◆ getVolumeUnderSurface() [1/2]

Mdouble WearableNurbsWall::getVolumeUnderSurface ( )

inline

     {
         return getVolumeUnderSurface(nurbsSurface_.getKnotsU(), nurbsSurface_.getKnotsV(), nurbsSurface_.getControlPoints(), nurbsSurface_.getWeights());
     }

References NurbsSurface::getControlPoints(), NurbsSurface::getKnotsU(), NurbsSurface::getKnotsV(), NurbsSurface::getWeights(), and NurbsWall::nurbsSurface_.

Referenced by processDebris().

◆ getVolumeUnderSurface() [2/2]

Mdouble WearableNurbsWall::getVolumeUnderSurface	(	const std::vector< Mdouble > &	knotsU,
		const std::vector< Mdouble > &	knotsV,
		const std::vector< std::vector< Vec3D >> &	controlPoints,
		const std::vector< std::vector< Mdouble >> &	weights
	)		const

 {
     // times 10 is arbitrary number for more accuracy.
     const int numU = knotsU.size() * 10; // Was 10 lately a lot for many test simulations
     const int numV = knotsV.size() * 10;
     
     const int degreeU = knotsU.size() - controlPoints.size() - 1;
     const int degreeV = knotsV.size() - controlPoints[0].size() - 1;
     
     const Mdouble lbU = knotsU[degreeU];
     const Mdouble ubU = knotsU[knotsU.size() - degreeU - 1];
     const Mdouble lbV = knotsV[degreeV];
     const Mdouble ubV = knotsV[knotsV.size() - degreeV - 1];
     
     Mdouble volume = 0.0;
     for (int i = 0; i < numU; i++)
     {
         for (int j = 0; j < numV; j++)
         {
             const Mdouble u0 = lbU + (ubU - lbU) * static_cast<Mdouble>(i)   / static_cast<Mdouble>(numU);
             const Mdouble u1 = lbU + (ubU - lbU) * static_cast<Mdouble>(i+1) / static_cast<Mdouble>(numU);
             const Mdouble v0 = lbV + (ubV - lbV) * static_cast<Mdouble>(j)   / static_cast<Mdouble>(numV);
             const Mdouble v1 = lbV + (ubV - lbV) * static_cast<Mdouble>(j+1) / static_cast<Mdouble>(numV);
             const Vec3D p1 = NurbsUtils::evaluate(u0, v0, knotsU, knotsV, controlPoints, weights); // Bottom left
             const Vec3D p2 = NurbsUtils::evaluate(u0, v1, knotsU, knotsV, controlPoints, weights); // Top left
             const Vec3D p3 = NurbsUtils::evaluate(u1, v0, knotsU, knotsV, controlPoints, weights); // Bottom right
             const Vec3D p4 = NurbsUtils::evaluate(u1, v1, knotsU, knotsV, controlPoints, weights); // Top right
  
             const Mdouble projectedArea1 = 0.5 * (p1.X * p3.Y - p3.X * p1.Y + p2.X * p1.Y - p1.X * p2.Y + p3.X * p2.Y - p2.X * p3.Y);
             const Mdouble projectedArea2 = 0.5 * (p4.X * p3.Y - p3.X * p4.Y + p2.X * p4.Y - p4.X * p2.Y + p3.X * p2.Y - p2.X * p3.Y);
             const Mdouble averageHeight1 = (p1.Z + p2.Z + p3.Z) / 3.0;
             const Mdouble averageHeight2 = (p4.Z + p2.Z + p3.Z) / 3.0;
             // Area can be negative (depending on order of points considered), and z is always negative assuming only
             // downward movement of control points, therefore take absolute value.
             const Mdouble volume1 = std::abs(averageHeight1 * projectedArea1);
             const Mdouble volume2 = std::abs(averageHeight2 * projectedArea2);
             volume += volume1 + volume2;
         }
     }
     return volume;
 }

References NurbsUtils::evaluate(), constants::i, Vec3D::X, Vec3D::Y, and Vec3D::Z.

◆ getVolumeUnderSurfaceX()

Mdouble WearableNurbsWall::getVolumeUnderSurfaceX	(	const std::vector< Mdouble > &	knotsU,
		const std::vector< Mdouble > &	knotsV,
		const std::vector< std::vector< Vec3D >> &	controlPoints,
		const std::vector< std::vector< Mdouble >> &	weights
	)		const

 {
     // times 10 is arbitrary number for more accuracy.
     const int numU = knotsU.size() * 10; // Was 10 lately a lot for many test simulations
     const int numV = knotsV.size() * 10;
     
     const int degreeU = knotsU.size() - controlPoints.size() - 1;
     const int degreeV = knotsV.size() - controlPoints[0].size() - 1;
     
     const Mdouble lbU = knotsU[degreeU];
     const Mdouble ubU = knotsU[knotsU.size() - degreeU - 1];
     const Mdouble lbV = knotsV[degreeV];
     const Mdouble ubV = knotsV[knotsV.size() - degreeV - 1];
     
     Mdouble volume = 0.0;
     for (int i = 0; i < numU; i++)
     {
         for (int j = 0; j < numV; j++)
         {
             const Mdouble u0 = lbU + (ubU - lbU) * static_cast<Mdouble>(i)   / static_cast<Mdouble>(numU);
             const Mdouble u1 = lbU + (ubU - lbU) * static_cast<Mdouble>(i+1) / static_cast<Mdouble>(numU);
             const Mdouble v0 = lbV + (ubV - lbV) * static_cast<Mdouble>(j)   / static_cast<Mdouble>(numV);
             const Mdouble v1 = lbV + (ubV - lbV) * static_cast<Mdouble>(j+1) / static_cast<Mdouble>(numV);
             const Vec3D p1 = NurbsUtils::evaluate(u0, v0, knotsU, knotsV, controlPoints, weights); // Bottom left
             const Vec3D p2 = NurbsUtils::evaluate(u0, v1, knotsU, knotsV, controlPoints, weights); // Top left
             const Vec3D p3 = NurbsUtils::evaluate(u1, v0, knotsU, knotsV, controlPoints, weights); // Bottom right
             const Vec3D p4 = NurbsUtils::evaluate(u1, v1, knotsU, knotsV, controlPoints, weights); // Top right
             
             // Only place with differences, x and z interchanged
             const Mdouble projectedArea1 = 0.5 * (p1.Z * p3.Y - p3.Z * p1.Y + p2.Z * p1.Y - p1.Z * p2.Y + p3.Z * p2.Y - p2.Z * p3.Y);
             const Mdouble projectedArea2 = 0.5 * (p4.Z * p3.Y - p3.Z * p4.Y + p2.Z * p4.Y - p4.Z * p2.Y + p3.Z * p2.Y - p2.Z * p3.Y);
             const Mdouble averageHeight1 = (p1.X + p2.X + p3.X) / 3.0;
             const Mdouble averageHeight2 = (p4.X + p2.X + p3.X) / 3.0;
             // Area can be negative (depending on order of points considered), and z is always negative assuming only
             // downward movement of control points, therefore take absolute value.
             const Mdouble volume1 = std::abs(averageHeight1 * projectedArea1);
             const Mdouble volume2 = std::abs(averageHeight2 * projectedArea2);
             volume += volume1 + volume2;
         }
     }
     return volume;
 }

References NurbsUtils::evaluate(), constants::i, Vec3D::X, Vec3D::Y, and Vec3D::Z.

◆ moveControlPoint()

void WearableNurbsWall::moveControlPoint	(	unsigned	idxU,
		unsigned	idxV,
		Vec3D	dP
	)

inline

     {
         nurbsSurface_.moveControlPoint(idxU, idxV, dP, false);
     }

References NurbsSurface::moveControlPoint(), and NurbsWall::nurbsSurface_.

◆ processDebris()

void WearableNurbsWall::processDebris ( )

private

 {
     std::vector<std::vector<Vec3D>> controlPoints = nurbsSurface_.getControlPoints();
     Mdouble totalDebris = 0.0;
     
     const int numU = controlPoints.size();
     const int numV = controlPoints[0].size();
     
     for (int i = 0; i < numU; i++)
     {
         for (int j = 0; j < numV; j++)
         {
             controlPoints[i][j].Z = -localDebris_[i][j];
             totalDebris += localDebris_[i][j];
         }
     }
  
     const Mdouble volumeChange = getVolumeUnderSurface(nurbsSurface_.getKnotsU(), nurbsSurface_.getKnotsV(), controlPoints, nurbsSurface_.getWeights());
     const Mdouble ratio = totalDebris / volumeChange;
  
     for (int i = 0; i < numU; i++)
     {
         for (int j = 0; j < numV; j++)
         {
             nurbsSurface_.moveControlPoint(i, j, Vec3D(0.0, 0.0, -localDebris_[i][j] * ratio), true);
         }
     }
 }

References NurbsSurface::getControlPoints(), NurbsSurface::getKnotsU(), NurbsSurface::getKnotsV(), getVolumeUnderSurface(), NurbsSurface::getWeights(), constants::i, localDebris_, NurbsSurface::moveControlPoint(), and NurbsWall::nurbsSurface_.

◆ read()

void WearableNurbsWall::read ( std::istream & is )

overridevirtual

Reads this wall from an input stream, for example a restart file.

Parameters

[in,out] is Input stream from which the wall must be read.

Reimplemented from NurbsWall.

 {
     NurbsWall::read(is);
     std::string dummy;
     is >> dummy;
     
     unsigned int nu, nv;
     is >> dummy >> nu;
     is >> dummy >> nv;
     
     std::vector<std::vector<Mdouble>> localDebris;
     localDebris.resize(nu);
     for (auto& d0 : localDebris)
     {
         d0.resize(nv);
         for (auto& d : d0) is >> d;
     }
     
     localDebris_ = localDebris;
 }

References localDebris_, and NurbsWall::read().

◆ set()

void WearableNurbsWall::set	(	Mdouble	lengthU,
		Mdouble	lengthV,
		Mdouble	resolutionU,
		Mdouble	resolutionV,
		bool	periodicU = `false`,
		bool	periodicV = `false`
	)

 {
     std::vector<std::vector<Vec3D>> controlPoints;
     std::vector<std::vector<Mdouble>> weights;
     
     int numU = static_cast<int>(lengthU / resolutionU);
     if (lengthU / numU > resolutionU)
     {
         numU++;
         resolutionU = lengthU / numU;
     }
     int numV = static_cast<int>(lengthV / resolutionV);
     if (lengthV / numV > resolutionV)
     {
         numV++;
         resolutionV = lengthV / numV;
     }
     
     for (int i = 0; i <= numU; i++)
     {
         std::vector<Vec3D> tempControlPoints;
         std::vector<Mdouble> tempWeights;
         for (int j = 0; j <= numV; j++)
         {
             tempControlPoints.push_back(Vec3D(i * resolutionU, j * resolutionV, 0.0));
             tempWeights.push_back(1.0);
         }
         controlPoints.push_back(tempControlPoints);
         weights.push_back(tempWeights);
     }
     
     // Make periodic when asked for, only clamp when not periodic.
     // Making periodic will unclamp it when needed, but better to start of unclamped already otherwise
     // warning messages are given to the user.
     NurbsSurface ns(controlPoints, weights, 3, 3, !periodicU, !periodicU, !periodicV, !periodicV);
     if (periodicU)
         ns.makePeriodicContinuousInU();
     if (periodicV)
         ns.makePeriodicContinuousInV();
     nurbsSurface_ = ns;
     
     // Initialize local debris with zeros
     const int sizeU = nurbsSurface_.getControlPoints().size();
     const int sizeV = nurbsSurface_.getControlPoints()[0].size();
     for (int i = 0; i < sizeU; i++)
     {
         std::vector<Mdouble> temp(sizeV, 0.0);
         localDebris_.push_back(temp);
     }
 }

References NurbsSurface::getControlPoints(), constants::i, localDebris_, NurbsSurface::makePeriodicContinuousInU(), NurbsSurface::makePeriodicContinuousInV(), and NurbsWall::nurbsSurface_.

Referenced by WearableNurbsWall().

◆ storeDebris()

void WearableNurbsWall::storeDebris	(	Vec3D	P,
		const Mdouble	debris
	)

private

 {
     // Rotate global point back to local coordinate system.
     P -= getPosition();
     getOrientation().rotateBack(P);
     
     // Snap the position to the closest grid point. Assuming the control points only ever move in z-direction, so the
     // x- and y-position don't change, and it was created with a given resolution in u and v.
     const std::vector<std::vector<Vec3D>>& controlPoints = nurbsSurface_.getControlPoints();
     const Mdouble resU = std::abs(controlPoints[1][0].X - controlPoints[0][0].X);
     const Mdouble resV = std::abs(controlPoints[0][1].Y - controlPoints[0][0].Y);
     
     // --- Add to closest grid point -----------------------------------------------------------------------------------
     auto indexU = static_cast<const unsigned>(std::round((P.X - controlPoints[0][0].X) / resU));
     auto indexV = static_cast<const unsigned>(std::round((P.Y - controlPoints[0][0].Y) / resV));
     localDebris_[indexU][indexV] += debris;
     
     // --- Add to 4 closest grid points, weighted by distance ----------------------------------------------------------
 //    const Mdouble pU = (P.X - controlPoints[0][0].X) / resU;
 //    const Mdouble pV = (P.Y - controlPoints[0][0].Y) / resV;
 //
 //    // Left and right distance in u and v
 //    const Mdouble pUL = pU - std::floor(pU);
 //    const Mdouble pVL = pV - std::floor(pV);
 //    const Mdouble pUR = 1.0 - pUL;
 //    const Mdouble pVR = 1.0 - pVL;
 //
 //    // Power parameter
 //    const Mdouble p = 1.0;
 //
 //    // Normalizing "length" in u and v
 //    const Mdouble lU = std::pow(pUL, p) + std::pow(pUR, p);
 //    const Mdouble lV = std::pow(pVL, p) + std::pow(pVR, p);
 //
 //    // Weights for left and right in u and v
 //    const Mdouble wUL = 1.0 - std::pow(pUL, p) / lU;
 //    const Mdouble wUR = 1.0 - std::pow(pUR, p) / lU;
 //    const Mdouble wVL = 1.0 - std::pow(pVL, p) / lV;
 //    const Mdouble wVR = 1.0 - std::pow(pVR, p) / lV;
 //
 //    const unsigned firstIndexU = std::floor(pU);
 //    const unsigned firstIndexV = std::floor(pV);
 //    localDebris_[firstIndexU    ][firstIndexV    ] += debris * wUL * wVL;
 //    localDebris_[firstIndexU    ][firstIndexV + 1] += debris * wUL * wVR;
 //    localDebris_[firstIndexU + 1][firstIndexV    ] += debris * wUR * wVL;
 //    localDebris_[firstIndexU + 1][firstIndexV + 1] += debris * wUR * wVR;
 }

References NurbsSurface::getControlPoints(), BaseInteractable::getOrientation(), BaseInteractable::getPosition(), localDebris_, NurbsWall::nurbsSurface_, Global_Physical_Variables::P, Quaternion::rotateBack(), helpers::round(), X, and Y.

Referenced by computeWear().

◆ write()

void WearableNurbsWall::write ( std::ostream & os ) const

overridevirtual

Writes this wall to an output stream, for example a restart file.

Parameters

[in,out] os Output stream to which the wall must be written.

Reimplemented from NurbsWall.

 {
     NurbsWall::write(os);
     os << " Debris ";
     os << "nu " << localDebris_.size() << ' ';
     os << "nv " << localDebris_[0].size() << ' ';
     for (const auto& d0 : localDebris_) for (const auto d : d0) os << d << ' ';
 }

References localDebris_, and NurbsWall::write().

◆ writeWallDetailsVTK()

void WearableNurbsWall::writeWallDetailsVTK ( VTKData & data ) const

overridevirtual

Reimplemented from NurbsWall.

 {
     // Visualised as a flat surface, which can be coloured according to the debris at each point.
     // The points are simply the control points with the z-position set to 0.
     
     const std::vector<std::vector<Vec3D>>& points = nurbsSurface_.getControlPoints();
     
     // Reserve memory for number of points and cells about to be added
     const unsigned np = points.size() * points[0].size();
     const unsigned nc = (points.size() - 1) * (points[0].size() - 1);
     data.reservePoints(np, { "Debris" });
     data.reserveCells(nc);
     
     // Number of points in v-direction
     size_t nv = points[0].size();
     // Point index offset, the point indices have to be offset by the number of points already present at the start (from previously added data)
     size_t pio = data.getPoints().size();
     
     for (int i = 0; i < points.size(); i++)
     {
         for (int j = 0; j < points[i].size(); j++)
         {
             Vec3D p = points[i][j];
             p.Z = 0;
             getOrientation().rotate(p);
             p += getPosition();
             data.addToPoints(p);
             data.addToPointData("Debris", localDebris_[i][j]);
             
             if (i > 0 && j > 0)
             {
                 // Basic 2D/1D mapping for indexing: nv * i + j (+ point index offset)
                 // 4 points to form a rectangle: point, point to the left, point down, point to the left and down
                 data.addToConnectivity({ nv*i+j+pio, nv*(i-1)+j+pio, nv*i+j-1+pio, nv*(i-1)+j-1+pio });
                 data.addToTypes(8);
             }
         }
     }
 }

References VTKData::addToConnectivity(), VTKData::addToPointData(), VTKData::addToPoints(), VTKData::addToTypes(), NurbsSurface::getControlPoints(), BaseInteractable::getOrientation(), VTKData::getPoints(), BaseInteractable::getPosition(), constants::i, localDebris_, NurbsWall::nurbsSurface_, VTKData::reserveCells(), VTKData::reservePoints(), Quaternion::rotate(), and Vec3D::Z.

Referenced by WallDetailsVTKWriter::writeVTK().

Member Data Documentation

◆ localDebris_

std::vector<std::vector<Mdouble> > WearableNurbsWall::localDebris_

private

Referenced by processDebris(), read(), set(), storeDebris(), WearableNurbsWall(), write(), and writeWallDetailsVTK().

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ WearableNurbsWall() [1/4]

◆ WearableNurbsWall() [2/4]

◆ WearableNurbsWall() [3/4]

◆ ~WearableNurbsWall()

◆ WearableNurbsWall() [4/4]

Member Function Documentation

◆ computeWear()

◆ copy()

◆ getName()

◆ getVolumeUnderSurface() [1/2]

◆ getVolumeUnderSurface() [2/2]

◆ getVolumeUnderSurfaceX()

◆ moveControlPoint()

◆ processDebris()

◆ read()

◆ set()

◆ storeDebris()

◆ write()

◆ writeWallDetailsVTK()

Member Data Documentation

◆ localDebris_